SP5. The armature -controlled dc motor V,(s=E+(R+SLaL,(s) + E o Im(s)=Km,(s) 6,0 E=KBO Tm(s)-T(s)-ba(s)=Jsa(s) (s)=6(s)SP5. The armature – controlled DC Motor T (s) K I (s) m = m a E = Kb s V (s) E (R sL )I (s) a = + a + a a T (s) T (s) b (s) Js (s) m − d −  =  (s) = s (s) E